Dear Jason,
There is nothing wrong with *kinetic energy*, at least I could not find
anything!
I programmed a 3D ball rolling on a flat surface.
The total energy is constant, no matter where the center of mass is.
Sorry about the commotion I created!
NB:
I use solve_ivp to do the integration.
I
Dear Jason,
Thanks a lot!
It seems to be my program, rather than *kinetic energy*.
The sample which did not work was my ‚Wackelstein‘, where there seem to be
many other issues, the geometry is probably too difficult for me.
I tried it on my 2D *rolling disc on an uneven street*, where the
Peter,
You should be able to provide the inertia (I, P) about a point P other than
the mass center of the rigid body. So in your code "mass center" does not
have to equal "P". But, I never really do that so it could be that the
underlying code doesn't apply the parallel axis theorem correctly. It
